rust/va108xx-rs
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Merge branch 'main' into update-flashloader-testapps

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This commit is contained in:
Robin Müller
2025-05-12 14:49:45 +02:00
parent 4114878e98 3d240d5481
commit 0774ea85e3
82 changed files with 910 additions and 37396 deletions
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21
flashloader/Cargo.toml
View File

@@ -4,32 +4,31 @@ version = "0.1.0"
edition = "2021"
[dependencies]
cortex-m = "0.7"
cortex-m = { version = "0.7", features = ["critical-section-single-core"]}
cortex-m-rt = "0.7"
embedded-hal = "1"
embedded-hal-nb = "1"
embedded-io = "0.6"
panic-rtt-target = "0.2"
rtt-target = "0.6"
defmt = "1"
defmt-rtt = { version = "0.4" }
panic-probe = { version = "0.3", features = ["print-defmt"] }
num_enum = { version = "0.7", default-features = false }
log = "0.4"
crc = "3"
cobs = { version = "0.3", default-features = false }
satrs = { version = "0.2", default-features = false }
rtt-log = "0.5"
ringbuf = { version = "0.4.7", default-features = false, features = ["portable-atomic"] }
once_cell = { version = "1", default-features = false, features = ["critical-section"] }
spacepackets = { version = "0.11", default-features = false }
spacepackets = { version = "0.11", default-features = false, features = ["defmt"] }
# Even though we do not use this directly, we need to activate this feature explicitely
# so that RTIC compiles because thumv6 does not have CAS operations natively.
portable-atomic = {version = "1", features = ["unsafe-assume-single-core"]}
rtic = { version = "2", features = ["thumbv6-backend"] }
rtic-monotonics = { version = "2", features = ["cortex-m-systick"] }
rtic-sync = {version = "1", features = ["defmt-03"]}
[dependencies.va108xx-hal]
version = "0.11"
path = "../va108xx-hal"
features = ["defmt"]
[dependencies.vorago-reb1]
version = "0.8"
[package.metadata.cargo-machete]
ignored = ["portable-atomic", "cortex-m-rt"]

49
flashloader/image-loader.py
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@@ -2,16 +2,15 @@
from typing import List, Tuple
from spacepackets.ecss.defs import PusService
from spacepackets.ecss.tm import PusTm
from tmtccmd.com import ComInterface
import toml
import struct
import logging
import argparse
import time
import enum
from tmtccmd.com.serial_base import SerialCfg
from tmtccmd.com.serial_cobs import SerialCobsComIF
from tmtccmd.com.ser_utils import prompt_com_port
from com_interface import ComInterface
from com_interface.serial_base import SerialCfg
from com_interface.serial_cobs import SerialCobsComIF
from crcmod.predefined import PredefinedCrc
from spacepackets.ecss.tc import PusTc
from spacepackets.ecss.pus_verificator import PusVerificator, StatusField
@@ -101,15 +100,7 @@ class ImageLoader:
)
self.verificator.add_tc(action_tc)
self.com_if.send(bytes(action_tc.pack()))
data_available = self.com_if.data_available(0.4)
if not data_available:
_LOGGER.warning("no reply received for boot image selection command")
for reply in self.com_if.receive():
result = self.verificator.add_tm(
Service1Tm.from_tm(PusTm.unpack(reply, 0), UnpackParams(0))
)
if result is not None and result.completed:
_LOGGER.info("received boot image selection command confirmation")
self.await_for_command_copletion("boot image selection command")
def handle_ping_cmd(self):
_LOGGER.info("Sending ping command")
@@ -122,16 +113,26 @@ class ImageLoader:
)
self.verificator.add_tc(ping_tc)
self.com_if.send(bytes(ping_tc.pack()))
self.await_for_command_copletion("ping command")
data_available = self.com_if.data_available(0.4)
if not data_available:
_LOGGER.warning("no ping reply received")
for reply in self.com_if.receive():
result = self.verificator.add_tm(
Service1Tm.from_tm(PusTm.unpack(reply, 0), UnpackParams(0))
)
if result is not None and result.completed:
_LOGGER.info("received ping completion reply")
def await_for_command_copletion(self, context: str):
done = False
now = time.time()
while time.time() - now < 2.0:
if not self.com_if.data_available():
time.sleep(0.2)
continue
for reply in self.com_if.receive():
result = self.verificator.add_tm(
Service1Tm.from_tm(PusTm.unpack(reply, 0), UnpackParams(0))
)
if result is not None and result.completed:
_LOGGER.info(f"received {context} reply")
done = True
if done:
break
if not done:
_LOGGER.warning(f"no {context} reply received")
def handle_corruption_cmd(self, target: Target):
if target == Target.BOOTLOADER:
@@ -300,12 +301,12 @@ def main() -> int:
if "serial_port" in parsed_toml:
serial_port = parsed_toml["serial_port"]
if serial_port is None:
serial_port = prompt_com_port()
serial_port = input("Please specify the serial port manually: ")
serial_cfg = SerialCfg(
com_if_id="ser_cobs",
serial_port=serial_port,
baud_rate=BAUD_RATE,
serial_timeout=0.1,
polling_frequency=0.1,
)
verificator = PusVerificator()
com_if = SerialCobsComIF(serial_cfg)

2
flashloader/loader.toml
View File

@@ -1 +1 @@
serial_port = "/dev/ttyUSB0"
serial_port = "/dev/ttyUSB1"

4
flashloader/requirements.txt
View File

@@ -1,5 +1,5 @@
spacepackets == 0.24
tmtccmd == 8.0.2
spacepackets == 0.28
com-interface == 0.1
toml == 0.10
pyelftools == 0.31
crcmod == 1.7

1
flashloader/slot-a-blinky/Cargo.toml
View File

@@ -9,7 +9,6 @@ edition = "2021"
cortex-m-rt = "0.7"
panic-rtt-target = { version = "0.1.3" }
rtt-target = { version = "0.5" }
cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
embedded-hal = "1"
va108xx-hal = { version = "0.11" }

1
flashloader/slot-b-blinky/Cargo.toml
View File

@@ -9,7 +9,6 @@ edition = "2021"
cortex-m-rt = "0.7"
panic-rtt-target = { version = "0.1.3" }
rtt-target = { version = "0.5" }
cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
embedded-hal = "1"
va108xx-hal = { version = "0.11" }

9
flashloader/src/lib.rs
View File

@@ -1,9 +0,0 @@
#![no_std]
#[cfg(test)]
mod tests {
#[test]
fn simple() {
assert_eq!(1 + 1, 2);
}
}

91
flashloader/src/main.rs
View File

@@ -3,8 +3,9 @@
#![no_main]
#![no_std]
use defmt_rtt as _; // global logger
use num_enum::TryFromPrimitive;
use panic_rtt_target as _;
use panic_probe as _;
use ringbuf::{
traits::{Consumer, Observer, Producer},
StaticRb,
@@ -29,7 +30,7 @@ pub enum ActionId {
SetBootSlot = 130,
}
#[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive)]
#[derive(Debug, Copy, Clone, PartialEq, Eq, TryFromPrimitive, defmt::Format)]
#[repr(u8)]
enum AppSel {
A = 0,
@@ -60,16 +61,14 @@ mod app {
use super::*;
use cortex_m::asm;
use embedded_io::Write;
use panic_rtt_target as _;
use rtic::Mutex;
use rtic_monotonics::systick::prelude::*;
use rtt_target::rprintln;
use satrs::pus::verification::{FailParams, VerificationReportCreator};
use spacepackets::ecss::PusServiceId;
use spacepackets::ecss::{
tc::PusTcReader, tm::PusTmCreator, EcssEnumU8, PusPacket, WritablePusPacket,
};
use va108xx_hal::gpio::PinsA;
use va108xx_hal::pins::PinsA;
use va108xx_hal::uart::IrqContextTimeoutOrMaxSize;
use va108xx_hal::{pac, uart, InterruptConfig};
use vorago_reb1::m95m01::M95M01;
@@ -84,8 +83,8 @@ mod app {
#[local]
struct Local {
uart_rx: uart::RxWithInterrupt<pac::Uarta>,
uart_tx: uart::Tx<pac::Uarta>,
uart_rx: uart::RxWithInterrupt,
uart_tx: uart::Tx,
rx_context: IrqContextTimeoutOrMaxSize,
verif_reporter: VerificationReportCreator,
nvm: M95M01,
@@ -102,26 +101,26 @@ mod app {
#[init]
fn init(cx: init::Context) -> (Shared, Local) {
rtt_log::init();
rprintln!("-- Vorago flashloader --");
defmt::println!("-- Vorago flashloader --");
Mono::start(cx.core.SYST, SYSCLK_FREQ.raw());
let mut dp = cx.device;
let nvm = M95M01::new(&mut dp.sysconfig, SYSCLK_FREQ, dp.spic);
let gpioa = PinsA::new(&mut dp.sysconfig, dp.porta);
let tx = gpioa.pa9.into_funsel_2();
let rx = gpioa.pa8.into_funsel_2();
let gpioa = PinsA::new(dp.porta);
let tx = gpioa.pa9;
let rx = gpioa.pa8;
let irq_uart = uart::Uart::new_with_interrupt(
&mut dp.sysconfig,
SYSCLK_FREQ,
dp.uarta,
(tx, rx),
UART_BAUDRATE.Hz(),
tx,
rx,
SYSCLK_FREQ,
UART_BAUDRATE.Hz().into(),
InterruptConfig::new(pac::Interrupt::OC0, true, true),
);
)
.unwrap();
let (tx, rx) = irq_uart.split();
// Unwrap is okay, we explicitely set the interrupt ID.
let mut rx = rx.into_rx_with_irq();
@@ -181,8 +180,8 @@ mod app {
{
Ok(result) => {
if RX_DEBUGGING {
log::debug!("RX Info: {:?}", cx.local.rx_context);
log::debug!("RX Result: {:?}", result);
defmt::debug!("RX Info: {:?}", cx.local.rx_context);
defmt::debug!("RX Result: {:?}", result);
}
if result.complete() {
// Check frame validity (must have COBS format) and decode the frame.
@@ -193,7 +192,7 @@ mod app {
let decoded_size =
cobs::decode_in_place(&mut cx.local.rx_buf[1..result.bytes_read]);
if decoded_size.is_err() {
log::warn!("COBS decoding failed");
defmt::warn!("COBS decoding failed");
} else {
let decoded_size = decoded_size.unwrap();
let mut tc_rb_full = false;
@@ -207,11 +206,13 @@ mod app {
}
});
if tc_rb_full {
log::warn!("COBS TC queue full");
defmt::warn!("COBS TC queue full");
}
}
} else {
log::warn!("COBS frame with invalid format, start and end bytes are not 0");
defmt::warn!(
"COBS frame with invalid format, start and end bytes are not 0"
);
}
// Initiate next transfer.
@@ -221,11 +222,11 @@ mod app {
.expect("read operation failed");
}
if result.has_errors() {
log::warn!("UART error: {:?}", result.errors.unwrap());
defmt::warn!("UART error: {:?}", result.errors.unwrap());
}
}
Err(e) => {
log::warn!("UART error: {:?}", e);
defmt::warn!("UART error: {:?}", e);
}
}
}
@@ -252,7 +253,7 @@ mod app {
continue;
}
let packet_len = packet_len.unwrap();
log::info!(target: "TC Handler", "received packet with length {}", packet_len);
defmt::info!("received packet with length {}", packet_len);
let popped_packet_len = cx
.shared
.tc_rb
@@ -266,7 +267,7 @@ mod app {
fn handle_valid_pus_tc(cx: &mut pus_tc_handler::Context) {
let pus_tc = PusTcReader::new(cx.local.tc_buf);
if pus_tc.is_err() {
log::warn!(target: "TC Handler", "PUS TC error: {}", pus_tc.unwrap_err());
defmt::warn!("PUS TC error: {}", pus_tc.unwrap_err());
return;
}
let (pus_tc, _) = pus_tc.unwrap();
@@ -312,22 +313,25 @@ mod app {
write_and_send(&tm);
};
if pus_tc.subservice() == ActionId::CorruptImageA as u8 {
rprintln!("corrupting App Image A");
defmt::info!("corrupting App Image A");
corrupt_image(APP_A_START_ADDR);
}
if pus_tc.subservice() == ActionId::CorruptImageB as u8 {
rprintln!("corrupting App Image B");
defmt::info!("corrupting App Image B");
corrupt_image(APP_B_START_ADDR);
}
if pus_tc.subservice() == ActionId::SetBootSlot as u8 {
if pus_tc.app_data().is_empty() {
log::warn!(target: "TC Handler", "App data for preferred image command too short");
defmt::warn!("App data for preferred image command too short");
}
let app_sel_result = AppSel::try_from(pus_tc.app_data()[0]);
if app_sel_result.is_err() {
log::warn!("Invalid app selection value: {}", pus_tc.app_data()[0]);
defmt::warn!("Invalid app selection value: {}", pus_tc.app_data()[0]);
}
log::info!(target: "TC Handler", "received boot selection command with app select: {:?}", app_sel_result.unwrap());
defmt::info!(
"received boot selection command with app select: {:?}",
app_sel_result.unwrap()
);
cx.local
.nvm
.write(PREFERRED_SLOT_OFFSET as usize, &[pus_tc.app_data()[0]])
@@ -341,7 +345,7 @@ mod app {
}
}
if pus_tc.service() == PusServiceId::Test as u8 && pus_tc.subservice() == 1 {
log::info!(target: "TC Handler", "received ping TC");
defmt::info!("received ping TC");
let tm = cx
.local
.verif_reporter
@@ -366,23 +370,21 @@ mod app {
if pus_tc.subservice() == 2 {
let app_data = pus_tc.app_data();
if app_data.len() < 10 {
log::warn!(
target: "TC Handler",
defmt::warn!(
"app data for raw memory write is too short: {}",
app_data.len()
);
}
let memory_id = app_data[0];
if memory_id != BOOT_NVM_MEMORY_ID {
log::warn!(target: "TC Handler", "memory ID {} not supported", memory_id);
defmt::warn!("memory ID {} not supported", memory_id);
// TODO: Error reporting
return;
}
let offset = u32::from_be_bytes(app_data[2..6].try_into().unwrap());
let data_len = u32::from_be_bytes(app_data[6..10].try_into().unwrap());
if 10 + data_len as usize > app_data.len() {
log::warn!(
target: "TC Handler",
defmt::warn!(
"invalid data length {} for raw mem write detected",
data_len
);
@@ -390,12 +392,7 @@ mod app {
return;
}
let data = &app_data[10..10 + data_len as usize];
log::info!(
target: "TC Handler",
"writing {} bytes at offset {} to NVM",
data_len,
offset
);
defmt::info!("writing {} bytes at offset {} to NVM", data_len, offset);
cx.local
.nvm
.write(offset as usize, data)
@@ -406,7 +403,7 @@ mod app {
.verify(offset as usize, data)
.expect("NVM verification failed")
{
log::warn!("verification of data written to NVM failed");
defmt::warn!("verification of data written to NVM failed");
cx.local
.verif_reporter
.completion_failure(
@@ -424,9 +421,7 @@ mod app {
.expect("completion success failed")
};
write_and_send(&tm);
log::info!(
target: "TC Handler",
"NVM operation done");
defmt::info!("NVM operation done");
}
}
}
@@ -457,7 +452,7 @@ mod app {
cx.local.encoded_buf[send_size + 1] = 0;
cx.local
.uart_tx
.write(&cx.local.encoded_buf[0..send_size + 2])
.write_all(&cx.local.encoded_buf[0..send_size + 2])
.unwrap();
occupied_len -= 1;
Mono::delay(2.millis()).await;